Fix bug in ConfigProjector::impl_compute
Fix bug in PathVector::extract
Make Distance::operator () and impl_distance const
Modify end condition in RandomShortcut

  - number of shortcut without improving path length is set to 5 instead of 10.
Fix bug regarding LockedDof on JointSO3
DifferentiableFunction are parametric
Constraints are now parametric
Add member isParametric_ to LockedDof
Remove unnecessary zeros in offset vector in Constraint
Add step by step planning to ProblemSolver class
Check if a path exists in ProblemSolver::finishSolveStepByStep
Make solver methods virtual in class ProblemSolver
Add protected method to set the problem and the roadmap.
Make Problem::checkProblem virtual
Add method virtual ProblemSolver::initializeProblem
Add method ProblemSolver::resetRoadmap
Add method isSatisfied to class Constraint
Abstract class SteeringMethod does not set the constraints.
Make sure path is not null in PathValidation.
Path do not apply constraints automatically. StraightPath applies them.